ASDA Series Application Note Chapter 4 Application Techniques
March, 2015 4-19
4.3.3.2 Operation steps
Step 1: Setup operation mode
Set the operation mode to PT：P1-01 = 0x0000
Step 2: Setup E-gear ratio
It is strongly recommended to set E-gear ratio as 1:1 (P1-44 = 1 / P1-45 = 1). This is for avoiding
the over speed of the motor.
Step 3: Setup the maximum rotating number of analog position command
Setup the maximum rotating number of motor in P1-66. The range of analog input voltage is
between -10V and +10V. Thus, when setting the rotating number as voltage +10V, it represents
the rotating number in forward direction. When setting voltage -10V, it represents the rotating
number in reverse direction. Analog input voltage and motor rotating number are in linear relation.
Users could infer the rotating direction and number from the setting of P1-66 and the value of
input voltage. For example, if E-gear ratio is 1 and P1-66 is set to 100, when the input voltage is
+10V, the motor will rotate 100 cycles in forward direction. When the input voltage is +3V, motor
will rotate 30 cycles in forward direction. On the other hand, when the input voltage is -7V, motor
will rotate 70 cycles in reverse direction. Please note that the maximum rotating number is 200.
Step 4: Select the initial position setting method
P1-64.Y can be set to judge the motor’s position when servo on. When P1-64.Y = 0, motor’s
position when servo on will be regarded as the position of 0V. If the instant input voltage is not 0V,
motor will operate to the position that corresponds to the current input voltage. That is to say, if
the input voltage is not 0 when servo on, motor runs. See figure 4.3.3, the input voltage is +5V, it
will servo off after motor rotates 50 cycles. Then, adjust the input voltage to +7V. Since the 50
th
cycle will be regarded as the position corresponded to 0V when servo on, motor will operate
another 70 cycles.
Figure 4.3.3 Regard the servo-off position as the original point
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